mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.9 KiB
C++
53 lines
1.9 KiB
C++
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#include <AP_gtest.h>
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#include "AP_Math/AP_Math.h"
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#include "AP_OLC/AP_OLC.h"
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AP_OLC olc;
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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// Test the olc_encode function of AP_OLC
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TEST(AP_OLCTest, OLC_EncodeTest) {
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// Test cases
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struct TestCase {
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int32_t lat;
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int32_t lon;
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size_t length;
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std::string expectedCode;
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};
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// Define the test cases
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std::vector<TestCase> testCases = {
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{500000000, 1000000000, 6, "9P2222"},
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{900000000, 2000000000, 8, "C3X2X2X2"},
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{000000000, 500000000, 9, "6HGG2222+"},
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{300000000, 500000000, 10, "8H2G2222+2"},
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{300000000, 500000000, 11, "8H2G2222+22"},
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{300000000, 500000000, 12, "8H2G2222+22"},
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{300000000, -1000000000, 10, "86222222+2"},
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{950000000, -1900000000, 12, "CVXGX2X2+X2"},
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// Add more test cases as needed
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};
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// Run the test cases
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for (const auto& testCase : testCases) {
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std::string buf(testCase.length + 2, '\0'); // buf should be > length +1 as the coding add \0
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uint32_t result = olc.olc_encode(testCase.lat, testCase.lon, testCase.length, &buf[0], buf.size());
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if (testCase.length < 9) {
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EXPECT_EQ(result, 9u); // 9 is separator min position
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} else {
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EXPECT_EQ(result, 11u); // length max is 11
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}
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EXPECT_EQ(buf.substr(0, MIN(testCase.length, 11u)), testCase.expectedCode);
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}
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std::string buf(2, '\0');
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uint32_t result = olc.olc_encode(testCases[0].lat, testCases[0].lon, testCases[0].length, &buf[0], buf.size());
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EXPECT_EQ(result, 0u);
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std::string empty_code(2, '\0');
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EXPECT_EQ(buf, empty_code);
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std::string buf2(16, '\0'); // buf should be > length +1 as the coding add \0
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result = olc.olc_encode(testCases[0].lat, testCases[0].lon, 11, &buf2[0], buf2.size());
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EXPECT_EQ(result, 12u);
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EXPECT_EQ(buf2.substr(0, 12), "9P222222+222");
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}
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AP_GTEST_MAIN()
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